using System;
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using System.Collections;
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using System.Collections.Generic;
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using System.Linq;
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using System.Text;
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using HalconDotNet;
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namespace HalconTools
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{
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public class CalibImage
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{
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/// <summary>
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/// Reference to the controller class that performs all
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/// calibration operations and interacts with the GUI.
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/// </summary>
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private CalibrationAssistant mAssistant;
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/// <summary>Calibration image</summary>
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private HImage mImage;
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/// <summary>
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/// Width of calibration image
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/// </summary>
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public int mWidth;
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/// <summary>
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/// Height of calibration image
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/// </summary>
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public int mHeight;
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/// <summary>
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/// Tuple with row coordinates of the detected marks
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/// </summary>
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private HTuple mMarkCenterRows;
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/// <summary>
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/// Tuple with column coordinates of the detected marks
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/// </summary>
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private HTuple mMarkCenterCols;
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private HTuple mWorldX;
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private HTuple mWorldY;
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/// <summary>
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/// Estimation for the external camera parameters (position and
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/// orientation)
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/// </summary>
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private HPose mEstimatedPose;
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/// <summary>
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/// HALCON error message that occurs when calculating the
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/// basic information for the calibration image
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/// (plate region, marks and pose).
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/// </summary>
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public string mErrorMessage;
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/// <summary>
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/// Flag that describes the degree of success or failure
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/// after an update of the basic information.
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/// </summary>
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public string mPlateStatus;
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/// <summary>
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/// Flag that permits or forbids this calibration image
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/// to be part of the calibration process
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/// </summary>
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public int mCanCalib; // true = 0 || false = 1
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/// <summary>
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/// Region of the plane calibration plate in the calibration image
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/// </summary>
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private HRegion mCaltabRegion;
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/// <summary>
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/// XLD contour points of the marks detected in
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/// the calibration image, generated from the row and
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/// column values <c>mMarkCenterRows</c> and
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/// <c>mMarkCenterCols</c>
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/// </summary>
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private HXLDCont mMarkCenter;
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/// <summary>
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/// Estimated world coordinate system (pose of the calibration plate
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/// in camera coordinates), based on the
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/// <c>mEstimatedPose</c> and the camera parameters
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/// for this calibration image
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/// </summary>
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private HObject mEstimatedWCS;
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private double mEstimatedPlateSize;
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// for quality measurement
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private ArrayList mQualityIssuesList;
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/// <summary>
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/// Initializes all status flags and objects to set up
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/// this image for the calibration process
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/// </summary>
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/// <param name="img">Calibration image</param>
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/// <param name="assist">Reference to the Calibration Assistant</param>
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public CalibImage(HImage img, CalibrationAssistant assist)
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{
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string tmp;
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mImage = img;
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mAssistant = assist;
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mCanCalib = 1; //labeled as 'for not having been evaluated'
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mPlateStatus = CalibrationAssistant.PS_NOT_FOUND;// "No Plate found" yet
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mImage.GetImagePointer1(out tmp, out mWidth, out mHeight);
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mEstimatedPlateSize = 0;
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mErrorMessage = "";
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// initialize all instances
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mCaltabRegion = new HRegion();
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mMarkCenter = new HXLDCont();
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mEstimatedWCS = new HObject();
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mQualityIssuesList = new ArrayList(15);
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mMarkCenterRows = new HTuple();
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mMarkCenterCols = new HTuple();
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mEstimatedPose = new HPose();
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}
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/************** getter-methods *************/
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/********************************************/
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public HImage getImage()
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{
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return mImage;
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}
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public HTuple getMarkCenterRows()
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{
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return mMarkCenterRows;
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}
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public HTuple getMarkCenterColumns()
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{
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return mMarkCenterCols;
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}
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public HTuple getWorldX()
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{
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return mWorldX;
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}
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public HTuple getWorldY()
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{
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return mWorldY;
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}
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public HXLDCont getMarkCenters()
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{
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return mMarkCenter;
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}
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public HTuple getEstimatedPose()
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{
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return mEstimatedPose;
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}
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public HObject getEstimatedWCS()
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{
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return mEstimatedWCS;
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}
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public double getEstimatedPlateSize()
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{
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return mEstimatedPlateSize;
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}
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public HObject getCaltabRegion()
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{
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return mCaltabRegion;
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}
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public ArrayList getQualityIssueList()
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{
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return mQualityIssuesList;
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}
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public string getPlateStatus()
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{
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return mPlateStatus;
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}
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/// <summary>
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/// Determine s(or updates) the basic information for this
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/// calibration image, which are the values for the region
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/// plate, the center marks, and the estimated pose.
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/// The flag <c>mPlateStatus</c> describes the evaluation
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/// of the computation process.
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/// If desired the quality assessment can be recalculated
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/// as well.
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/// </summary>
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/// <param name="updateQuality">
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/// Triggers the recalculation of the quality assessment for
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/// this calibration image
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/// </param>
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public void UpdateCaltab(bool updateQuality)
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{
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HTuple unit = new HTuple("mm");
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bool failed = false;
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QualityProcedures proc = new QualityProcedures();
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string descrFile;
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HTuple startCamp;
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mErrorMessage = "";
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mCaltabRegion.Dispose();
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mMarkCenter.Dispose();
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mEstimatedWCS.Dispose();
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//reset this variable
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mMarkCenterRows = new HTuple();
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mPlateStatus = CalibrationAssistant.PS_NOT_FOUND;
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descrFile = mAssistant.getDesrcFile();
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try
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{
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mCaltabRegion = mImage.FindCaltab(descrFile,
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(int)mAssistant.mFilterSize,
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(int)mAssistant.mMarkThresh,
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(int)mAssistant.mMinMarkDiam);
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mPlateStatus = CalibrationAssistant.PS_MARKS_FAILED;
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//-- Quality issue measurements --
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if (updateQuality)
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{
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mQualityIssuesList.Clear();
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failed = mAssistant.testQualityIssues(this);
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}
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startCamp = mAssistant.getCameraParams(this);
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mMarkCenterRows = mImage.FindMarksAndPose(mCaltabRegion,
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descrFile,
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startCamp,
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(int)mAssistant.mInitThresh,
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(int)mAssistant.mThreshDecr,
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(int)mAssistant.mMinThresh,
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mAssistant.mSmoothing,
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mAssistant.mMinContLength,
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mAssistant.mMaxMarkDiam,
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out mMarkCenterCols,
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out mEstimatedPose);
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mMarkCenter.GenCrossContourXld(mMarkCenterRows,
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mMarkCenterCols,
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new HTuple(6.0),
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0.785398);
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if (failed)
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mAssistant.addQualityIssue(this, CalibrationAssistant.QUALITY_ISSUE_FAILURE, 0.0);
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HOperatorSet.ImagePointsToWorldPlane(startCamp, mEstimatedPose,
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mMarkCenterRows, mMarkCenterCols,
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unit, out mWorldX, out mWorldY);
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mEstimatedPlateSize = HMisc.DistancePp(mWorldY[0].D, mWorldX[0].D,
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mWorldY[1].D, mWorldX[1].D);
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mEstimatedPlateSize *= 10.0;
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proc.get_3d_coord_system(mImage, out mEstimatedWCS,
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startCamp, mEstimatedPose,
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new HTuple(mEstimatedPlateSize / 2.0));
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mPlateStatus = mQualityIssuesList.Count > 0 ? CalibrationAssistant.PS_QUALITY_ISSUES : CalibrationAssistant.PS_OK; // "Quality Issues found": "OK";
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mCanCalib = 0;
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}
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catch (HOperatorException e)
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{
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this.mErrorMessage = e.Message;
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mCanCalib = 1;
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/* if exception was raised due to lack of memory,
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* forward the error to the calling method */
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if (e.Message.IndexOf("not enough") != -1)
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throw (e);
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}
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}
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/// <summary>
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/// Releases the memory for all iconic HALCON objects contained in
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/// this instance.
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/// </summary>
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public void Clear()
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{
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mImage.Dispose();
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mCaltabRegion.Dispose();
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}
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}
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}
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